• The Transactions of the Korean Institute of Electrical Engineers
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• v.39 no.1
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• pp.92-106
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• 1990

Active compliance is often used in the control of robot manipulators for the implementation of complex tasks such as assembly, multi-finger fine motion, legged-vehicle adaptive control,etc. This technique balances the interactive force between the manipulator tip and its working environment with its position and velocity errors to achieve the operation of a damped spring. This paper investigates the effecft of passive compliance on system stability with regard to force feedback implementation for actively compliant motion. Usually it is understood that accurate position control require a stiff system. However, theoretical examination of control experiments on a legged suspension vehicle suggests that, if the control includes discrete-time force feedback, some passive compliance is necessssary at the legs of the vehicle for system stability. This can be an important factor to bl considered in manipulator design and control. A theoretical analysis, numerical simulation, and experimental result, confirming the above conclusion, are introduced in this paper.

• Structural Engineering and Mechanics
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• v.51 no.5
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• pp.743-754
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• 2014

Investigations of regular and chaotic vibrations of the autoparametric pendulum absorber suspended on a nonlinear coil spring and a magnetorheological damper are presented in the paper. Application of a semi-active damper allows controlling the dangerous motion without stooping of system and additionally gives new possibilities for designers. The investigations are curried out close to the main parametric resonance. Obtained numerical and experimental results show that the semi-active suspension may reduce dangerous motion and it also allows to maintain the pendulum at a given attractor or to jump to another one. Moreover, the results show that, for some parameters, MR damping may transit to chaotic motions.

• YAKHAK HOEJI
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• v.42 no.4
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• pp.447-458
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• 1998

Inhibitory activity of pesticide-preventing active carbon fiber mask on the penetrations in pesticide spray and its inhibitory effect on acute inhalation toxicity in rats were s tudied. Pesticides were sprayed into box ($1.O{\times}1.2{\tmies}O.6\;m$) at a dose of 20ml/min of diazinon ($Diatone^{TM}$) suspension (340ppm) and 5g/min of BPMC powder (2.0%) for 4 hours, and then captured the penetrated pesticides into water via mask in box under 8l/sec suction. The pesticides were analysed by A.O.A.C. method and GC/MS. Pesticide-preventing active carbon fiber mask significantly inhibited the penetration of diazinon by 93.4% as compared with control, and cotton mask and pesticide-preventing mask did it by 74.2% and 83.7%,respectively. This result shows that pesticide-preventing active carbon fiber mask has the most prominent inhibitory effect in preventing the penetration of diazinone. In the penetration of BPMC, all of three masks, such as active carbon fiber mask, cotton mask and pesticide-preventing mask, have a similar inhibitory effect, which were 99.3%, 98.6% and 97.0%, respectively. The penetrated pesticides via pesticide-preventmg active carbon fiber mask did not exert acute inhalation toxicity.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.37 no.11
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• pp.1429-1436
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• 2013

This study presents an approach for designing a vehicle rollover prevention controller using differential game theory and multi-level programming. The rollover prevention problem can be modeled as a non-cooperative zero-sum two-player differential game. A controller as an equilibrium solution of the differential game guarantees the worst-case performance against every possible steering input. To obtain an equilibrium solution to the differential game with a small amount of computational effort, a multi-level programming approach with a relaxation procedure is used. To cope with the loss of maneuverability caused by the active suspension, an electronic stability program (ESP) is adopted. Through simulations, the proposed method is shown to be effective in obtaining an equilibrium solution of the differential game.

• International Journal of Automotive Technology
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• v.5 no.2
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• pp.77-88
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• 2004

Narrow commuter vehicles can address many congestion, parking and pollution issues associated with urban transportation. In making narrow vehicles safe, comfortable and acceptable to the public, active tilt control systems are likely to playa crucial role. This paper focuses on the development of an active direct tilt control system for a narrow vehicle that utilizes an actuator in the vehicle suspension. A simple PD controller can stabilize the tilt dynamics of the vehicle to any desired tilt angle. However, the challenges in the tilt control system design arise in determining the desired lean angle in real-time and in minimizing tilt actuator torque requirements. Minimizing torque requirements requires the tilting and turning of the vehicle to be synchronized as closely as possible. This paper explores two different control design approaches to meet these challenges. A Receding Horizon Controller (RHC) is first developed so as to systematically incorporate preview on road curvature and synchronize tilting with driver initiated turning. Second, a nonlinear control system that utilizes feedback linearization is developed and found to be effective in reducing torque. A close analysis of the complex feedback linearization controller provides insight into which terms are important for reducing actuator effort. This is used to reduce controller complexity and obtain a simple nonlinear controller that provides good performance.

• Biotechnology and Bioprocess Engineering:BBE
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• v.8 no.2
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• pp.135-141
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• 2003

The human granulocyte-macrophage colony stimulating factor (hGM-CSF) gene was introduced into tobacco plants. The cell suspension culture was established from leaf-derived calli of the transgenic tobacco plants in order to express and secrete a biologically active hGM -CSF. The recombinant hGM-CSF from the transgenic plant cell culture (prhGM-CSF) was identified as a yield of about 180 ${\mu}$g/L in the culture filtrate, as determined by ELISA. The addition of 0.5 g/L polyvinylpyrrolidone (PVP) to the plant cell culture medium both stabilized the secreted prhGM-CSF and increased the level of production approximately 1.5-fold to 270 ${\mu}$g/L. The biological activity of the prhGM-CSF was confirmed by measuring the proliferation of the hGM-CSF-dependent cell line, TF-1. Interestingly, the specific activity of the prhGM-CSF was estimated to be approximately 2.7 times higher than that of a commercially available preparation from E. coli.

• 한국생물공학회:학술대회논문집
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• 2001.11a
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• pp.206-209
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• 2001

Recombinant human GM -CSF was expressed and secreted from transgenic rice cell suspension cultures in its biologically active form. This was accomplished by transforming rice callus tissues with an expression vector, pMYN44. containing the hGM -CSF cDNA. Regulated expression and secretion of hGM -CSF from this vector achieved using the promoter, signal peptide, and terminator from a rice alfa-amylase gene Amy3D. The Amy3D gene is expressed in response to sugar deprivation. The recombinant hGM -CSF was expressed from the transgenic rice cell culture on the sugar-free medium as a yield of about 110 mg/L in the culture filtrate, which was determined by ELISA. Biological activity of hGM-CSF was confirmed by measuring the proliferation of the hGM -CSF dependent TF -1 cells.(This work was supported by a grant from the NRL program of the Korean Ministry of Science and Technology. Shin, Y.- J.. Lee. J.-H and Kwon, T.-H. have been supported by BK21 program from the Korean Ministry of Education)

• Biomolecules & Therapeutics
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• v.10 no.2
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• pp.129-135
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• 2002

HM10411 is a recombinant granulocyte-colony stimulating factor (rG-CSF) that has been developing as a drug for neutropenia. In this study, antigenic potential of HM10411 was examined by active systemic anaphylaxis (ASA) in guinea pigs and passive cutaneous anaphylaxis (PCA) in guinea pig-guinea pig system. HM10411 was subcutaneously administered at 0,5, and 50 mg/kg and also as a suspension with adjuvant (50 mg/kg+FCA). Ovalbumin (OVA) as a suspension with adjuvant was used to induce positive control responses. In the ASA test, no symptoms except urination and evacuation that were considered as physiological phenomena were observed at 0 and 5 mg/kg. Two of 5 animals at 50 mg/kg showed sneering, dyspnea, or cyanosis. All animals in the adjuvant mixture group showed severe symptoms of anaphylatic shock and 3 of them died. In the PCA test, no antibody against HM 10411 was detected in the sera from the animals sensitized with 0 or 5 mg/kg. Only 1 serum sample from the animals immunized with 50 mg/kg showed positive reaction against HM10411, while all 5 sera collected from the HM10411 and FCA mixture group contained the HM10411-specific antibodies. These results suggest HM10411 is considered to have antigenicity In guinea pig.

• Journal of Pharmacopuncture
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• v.14 no.4
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• pp.23-32
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• 2011

Objectives: This study was performed to examine the antigenic potential of pure melittin (Sweet Bee Venom - SBV) extracted from the bee venom by utilizing protein isolation method of gel filtration. Methods: All experiments were conducted at Biotoxtech (Chungwon, Korea), authorized a non-clinical studies institution, under the regulations of Good Laboratory Practice (GLP). Antigenic potential of SBV was examined by active systemic anaphylaxis (ASA) and passive cutaneous anaphylaxis (PCA) in guinea pigs. SBV was subcutaneously administered at 0.07 and 0.28mg/kg and also as a suspension with adjuvant (Freund's complete adjuvant: FCA). Ovalbumin (OVA) as a suspension with adjuvant was used to induce positive control response ($5mg/m{\ell}$-FCA). Results: 1. In the ASA test, experimental groups showed some symptoms of anaphylaxis like piloerection, hyperpnea and staggering gait. 2. In the PCA test, low dosage group did not show any antibody responses, whereas high dosage group showed positive responses. 3. In the weight measurement and clinical observation, experimental groups didn't show any significant changes compared with control group. 4. In the autopsy of body, the abnormalities of lung were detected in the corpse. This means that the cause of death may induced anaphylactic shock. Conclusions: Above findings suggested that SBV had antigenic potential in guinea pig. Further studies on the subject should be conducted to yield more concrete evidences.

• Journal of Drive and Control
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• v.15 no.1
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• pp.38-49
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• 2018

This research describes the development model and testing of a hybrid damper which can be applicable to a vehicle suspension. The hybrid damper is devised to improve the performance of a conventional passive oil damper using a magneto-rheological (MR) accumulator which consists of a gas accumulator and a MR device. The level of damping is continuously variable by the means of control in the applied current in a MR device fitted to a floating piston which separates the gas and the oil chamber. A simple MR device is used to resist the movement of floating piston. At first a mathematical model which describes all flows within the conventional oil damper is formulated, and then a small MR device is also devised and adopted to a mathematical model to characterize the performance of the device.